CN107013018A - A kind of high-rise outer rendering robot - Google Patents
A kind of high-rise outer rendering robot Download PDFInfo
- Publication number
- CN107013018A CN107013018A CN201710116896.3A CN201710116896A CN107013018A CN 107013018 A CN107013018 A CN 107013018A CN 201710116896 A CN201710116896 A CN 201710116896A CN 107013018 A CN107013018 A CN 107013018A
- Authority
- CN
- China
- Prior art keywords
- coating
- storage box
- robot
- rendering
- controlled motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
Abstract
The invention discloses a kind of high-rise outer rendering robot, including outside cable power, central control cabinet, rotor controlled motor group, rotor, outside monitoring computer, coating apparatus controlled motor, coating apparatus, coating delivery hose road, coating storage box, camera, coating storage box, coating supplying flexible pipe road, coating service tank and accident protection rope.The present invention is using mobile vehicle of the aircraft as rendering device, to adapt to the rendering operating environment under more kinds of occasions.The present invention does not have particular/special requirement for wall wall, has a wide range of application.Coating and power supply are all placed in outside robot, the weight of robot body is significantly reduced, reduces cost.The mode of operation that outside Surveillance center monitors in real time simultaneously, can greatly improve rendering efficiency and reliability.
Description
Technical field
The present invention relates to wall plaster technology, more particularly, to a kind of high-rise outer rendering robot.
Background technology
The manpower of high-rise outer paints high cost, realization difficulty and danger is big, and high-rise outer rendering robot is one
The device for realizing high-rise outer automatic plastering is planted, three classes are broadly divided into.The first kind is vacuum adsorption type robot, is inhaled by vacuum
Robot is adsorbed onto on high-rise outer wall by disk, and backhauling on the wall of high-altitude is realized using machine subsidiary travel mechanism
It is dynamic, so as to complete to paint work.This kind of robot is high and complicated due to the sealing requirements of vacuum cup, thus cost is high
It is expensive, and the reliability of work is poor；Equations of The Second Kind is wall rail mounted robot, when building building just by outside track installation to high building
On wall wall, when carrying out rendering operation, rendering robot is dragged by the jib crane of roof and moved back and forth along track, from
And complete to paint work；3rd class is magnetic adsorption type robot, and this kind of robot is to be adsorbed onto high building wall by magnetic enclosure material
On face, with stronger absorption affinity, the movement on wall can be realized by being magnetically moved mechanism, and completes to paint operation,
But this robot can only the operation on the wall of certain material, application very little.Sum it up, three class high-rise outers of the above
Rendering robot has the limitation of respective application, for the wall of special occasions, it is difficult to be realized with three of the above scheme.
The content of the invention
In order to solve the problems, such as this respect, painted it is an object of the invention to provide a kind of wider high-rise outer of use occasion
Robot, using aircraft as the mobile vehicle for painting device, can adapt to the rendering operating environment under more kinds of occasions.
To reach above-mentioned purpose, the technical solution adopted in the present invention is as follows：
A kind of high-rise outer rendering robot includes outside cable power, central control cabinet, rotor controlled motor group, rotation
The wing, outside monitoring computer, coating apparatus controlled motor, coating apparatus, coating delivery hose road, coating storage box, camera, coating
Storage box, coating supplying flexible pipe road, coating service tank and accident protection rope；
Central control cabinet includes central controller and sensor group, and coating apparatus include cylindricality rendering roller and paint coating is deposited
Storage box, cylindricality rendering roller and coating the storage box are brought into close contact；Described sensor group includes obliquity sensor, position sensing
Pressure sensor is provided with device, velocity sensor, cylindricality rendering roller, the pressure sensor is connected with central controller；
Rotor is uniformly distributed and is connected with rotor controlled motor group, and coating apparatus controlled motor is connected with cylindricality rendering roller,
Paint coating the storage box is connected by coating delivery hose road with coating storage box, and coating storage box passes through coating supplying flexible pipe road
Be connected with coating service tank, coating apparatus and camera are located at the same side of robot, central control cabinet respectively with outside wired electricity
Source, rotor controlled motor group, outside monitoring computer, coating apparatus controlled motor, camera are connected, and accident protection rope is arranged on
In coating storage box.
The outer wall of the robot paints method：Outside cable power and outside monitoring computer bit are in rendering wall area
In the lower floor of domain, outside coating service tank, which is located at, to be painted in wall body area upper floor, and robot is located at work between the two
Make region；
High-rise outer rendering robot uses cable power power supply mode, and robot passes through accident protection rope and eminence building
Layer connection；Central controller receives the instruction of outside monitoring computer, with reference to obliquity sensor, position sensor, velocity pick-up
The feedback information of device, pressure sensor, the group work of control rotor controlled motor, rotor is pressed with specified angle specifies rotating speed to rotate,
So that robot is accurate to up to job site and carries out rendering operation with required posture；Cylindricality rendering roller and coating the storage box
Be brought into close contact so that when cylindricality rendering roller is rolled coating can uniformly be applied to coating in its surface, coating the storage box by
Machine coating storage box is conveyed by coating delivery hose road, and the coating in coating storage box is passed through by the coating service tank of eminence
Coating supplying flexible pipe road is supplied, when coating is not enough in coating storage box, and its internal surplus detection prompting device can send prompting,
Coating service tank positioned at eminence opens valve, supplements coating, and robot adjusts posture, coating apparatus inclination angle by preset requirement
Afterwards, at the uniform velocity moved along surface of wall, coating is uniformly applied on wall by coating apparatus；
Camera by real time job picture transmission to exterior monitoring computer, meanwhile, the feedback information of sensor group also can
Real-time Transmission is to outside monitoring computer, as monitoring index, to monitor and control whole operation process.
The beneficial effects of the invention are as follows：The present invention, as the mobile power for painting device, is not had using aircraft for wall
There is particular/special requirement, there is wider array of application than existing three kinds of high-rise outers rendering robot solution.The present invention will
Coating and power supply are all placed in outside robot, significantly reduce the weight of robot body, it is possible to reduce cost improves work simultaneously
Make efficiency.The present invention is using the real-time supervisory-controlled robot posture of outside Surveillance center, speed, position and paints the information such as effect, can
To greatly improve rendering reliability.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
In figure, 1：Cable power, 2：Central control cabinet, 3：Rotor controlled motor, 4：Rotor, 5：Outside monitoring computer,
6：Coating apparatus controlled motor, 7：Cylindricality rendering roller, 8：Paint coating the storage box, 9：Coating delivery hose road, 10：Coating is stored
Case, 11：Camera, 12：Coating supplying flexible pipe road, 13：Coating service tank, 14：Accident protection rope.
Fig. 2 is the operating position schematic diagram of the present invention.
Fig. 3 is the operation principle block diagram of the present invention.
Embodiment
Operation principle of the present invention is described further below in conjunction with the accompanying drawings
High-rise outer rendering robot of the present invention, as shown in figure 1, including outside cable power 1, central control cabinet 2,
Rotor controlled motor group 3, rotor 4, outside monitoring computer 5, coating apparatus controlled motor 6, coating apparatus, coating delivery hose road 9,
Coating storage box 10, camera 11, coating storage box 10, coating supplying flexible pipe road 12, coating service tank 13 and accident protection rope
Rope 14；
Central control cabinet 2 includes central controller and sensor group, and coating apparatus include cylindricality rendering roller 7 and paint coating
The storage box 8, cylindricality rendering roller 7 and coating the storage box 8 are brought into close contact；Described sensor group includes obliquity sensor, position
Pressure sensor, the pressure sensor and central controller phase are provided with sensor, velocity sensor, cylindricality rendering roller 7
Even；
Rotor 4 is uniformly distributed and is connected with rotor controlled motor group 3, coating apparatus controlled motor 6 and the phase of cylindricality rendering roller 7
Even, paint coating the storage box 8 is connected by coating delivery hose road 9 with coating storage box 10, and coating storage box 10 passes through coating
Supplying flexible pipe road 12 is connected with coating service tank 13, and coating apparatus and camera 11 are positioned at the same side of robot, central control cabinet 2
Respectively with outside cable power 1, rotor controlled motor group 3, outside monitoring computer 5, coating apparatus controlled motor 6, camera 11
It is connected, accident protection rope 14 is arranged in coating storage box 10.
As shown in Figures 2 and 3, high-rise outer rendering robot of the present invention uses the power supply mode of cable power 1, to mitigate
Its weight, improves operating efficiency, while inside can be included in stand-by power supply, centrally located control cabinet 2, it is ensured that cable power 1
Robot can be returned safely when being disconnected due to failure or other reasonses.Whole robot passes through accident protection rope 14 and eminence building
Layer connection, when encounter the bad weather such as strong wind robot can not normal flight when, can by the people of accident protection rope 14 for reclaim
Robot.
The kinematic system of robot of the present invention is by central control cabinet 2：Including central controller and sensor group, four
Rotor 4 and its controlled motor group 3 are constituted, and central controller receives the instruction of outside monitoring computer, with reference to inclining in sensor group
Angle transducer, position sensor, velocity sensor, the feedback information of pressure sensor (being located inside cylindricality rendering roller 7), control
Rotor controlled motor group 3 processed works, and each rotor 4 is pressed with specified angle specifies rotating speed to rotate so that robot is accurate to up to work
Place simultaneously carries out rendering operation with required posture.The rendering device of robot is a coating apparatus：Including the He of cylindricality rendering roller 7
Paint coating the storage box 8, and its controlled motor 6, cylindricality rendering roller 7 and coating the storage box 8 are brought into close contact so that cylindricality is painted
Coating can uniformly be applied to its surface when roller 7 is rolled, it is ensured that paint effect.Coating apparatus are connected to coating apparatus control by main shaft
Motor 6 processed, the work of central controller controls motor enables coating apparatus to rotate around on request, to adapt to different angles
The wall of degree.Coating storage box 10 of the coating at the top of robot passes through coating delivery hose in the coating the storage box 8 of coating apparatus
Road 9 is conveyed, and the coating in coating storage box 10 is supplied by the coating service tank 13 of eminence by coating supplying flexible pipe road 12, this
Sample can mitigate the weight of robot, reduce operating cost.When coating is not enough in coating storage box 10, its internal surplus inspection
Prompting can be sent by surveying prompting device, remind the coating service tank positioned at eminence to open valve.The detailed process for painting operation is machine
People reaches the position of wall, adjusts behind posture, coating apparatus inclination angle and is at the uniform velocity moved along surface of wall by preset requirement, paints
Coating is uniformly applied on wall by device.
Camera 11 is set in coating storage box 10, and camera 11 is by real time job picture transmission to exterior monitoring computer
5.Meanwhile, the feedback information of sensor group also can real-time Transmission to outside monitoring computer 5, as monitoring index, to monitor
And control whole operation process.
Claims (1)
1. a kind of high-rise outer rendering robot, it is characterised in that including outside cable power (1), central control cabinet (2), rotation
Wing controlled motor group (3), rotor (4), outside monitoring computer (5), coating apparatus controlled motor (6), coating apparatus, coating conveying are soft
Pipeline (9), coating storage box (10), camera (11), coating storage box (10), coating supplying flexible pipe road (12), coating supply
Case (13) and accident protection rope (14)；
Central control cabinet (2) includes central controller and sensor group, and coating apparatus include cylindricality rendering roller (7) and paint coating
The storage box (8), cylindricality rendering roller (7) and coating the storage box (8) are brought into close contact；Described sensor group is sensed including inclination angle
Pressure sensor, the pressure sensor and center are provided with device, position sensor, velocity sensor, cylindricality rendering roller (7)
Controller is connected；
Rotor (4) is uniformly distributed and is connected with rotor controlled motor group (3), coating apparatus controlled motor (6) and cylindricality rendering roller
(7) it is connected, paint coating the storage box (8) is connected by coating delivery hose road (9) with coating storage box (10), coating storage box
(10) it is connected by coating supplying flexible pipe road (12) with coating service tank (13), coating apparatus and camera (11) are located at robot
The same side, central control cabinet (2) monitors computer with outside cable power (1), rotor controlled motor group (3), outside respectively
(5), coating apparatus controlled motor (6), camera (11) are connected, and accident protection rope (14) is arranged in coating storage box (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710116896.3A CN107013018A (en) | 2017-03-01 | 2017-03-01 | A kind of high-rise outer rendering robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710116896.3A CN107013018A (en) | 2017-03-01 | 2017-03-01 | A kind of high-rise outer rendering robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107013018A true CN107013018A (en) | 2017-08-04 |
Family
ID=59439804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710116896.3A Pending CN107013018A (en) | 2017-03-01 | 2017-03-01 | A kind of high-rise outer rendering robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107013018A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107989338A (en) * | 2017-11-17 | 2018-05-04 | 浙江海洋大学 | A kind of civil engineering machine and its control method |
| CN109263400A (en) * | 2018-10-29 | 2019-01-25 | 王骞宇 | A kind of spraying mothers and sons robot |
| CN110485685A (en) * | 2019-08-22 | 2019-11-22 | 清华大学 | A kind of low quality long stroke external wall spraying device |
| CN111236587A (en) * | 2020-02-04 | 2020-06-05 | 胡瑞昊 | Wall surface spray painting cleaning method and special equipment |
| CN111270819A (en) * | 2020-02-22 | 2020-06-12 | 北京正升建设工程有限公司 | Wall surface painting method, system and device |
| CN112892931A (en) * | 2021-01-22 | 2021-06-04 | 大余县和锋电子有限公司 | Shell paint spraying apparatus is used in headphone production |
| CN112937861A (en) * | 2021-04-07 | 2021-06-11 | 董贵银 | Can be many rotor unmanned aerial vehicle of building body wall repairment |
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| CN2799194Y (en) * | 2005-06-23 | 2006-07-26 | 公安部上海消防研究所 | Sensor device for task execution of fire-fighting robot |
| JP2012040975A (en) * | 2010-08-20 | 2012-03-01 | Railway Technical Research Institute | Radio controlled aircraft for forming reflecting target |
| CN203783086U (en) * | 2014-03-19 | 2014-08-20 | 韩东池 | Interior painting robot |
| US20160082460A1 (en) * | 2014-09-19 | 2016-03-24 | Luryto, Llc | Systems and methods for unmanned aerial painting applications |
| CN205256675U (en) * | 2015-11-02 | 2016-05-25 | 王欢 | Climb electronic aircraft of wall operation |
| CN205493730U (en) * | 2015-12-03 | 2016-08-24 | 王成忠 | Rotorcraft building outer wall washs and paint spraying machine ware people |
| CN105952121A (en) * | 2016-05-22 | 2016-09-21 | 安庆海纳信息技术有限公司 | Whitewash robot for building wall capable of automatically pouring paints |
| CN106364673A (en) * | 2015-07-24 | 2017-02-01 | 林信嘉 | Engineering unmanned aerial vehicle carrier with auxiliary stabilizing function |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2799194Y (en) * | 2005-06-23 | 2006-07-26 | 公安部上海消防研究所 | Sensor device for task execution of fire-fighting robot |
| JP2012040975A (en) * | 2010-08-20 | 2012-03-01 | Railway Technical Research Institute | Radio controlled aircraft for forming reflecting target |
| CN203783086U (en) * | 2014-03-19 | 2014-08-20 | 韩东池 | Interior painting robot |
| US20160082460A1 (en) * | 2014-09-19 | 2016-03-24 | Luryto, Llc | Systems and methods for unmanned aerial painting applications |
| CN106364673A (en) * | 2015-07-24 | 2017-02-01 | 林信嘉 | Engineering unmanned aerial vehicle carrier with auxiliary stabilizing function |
| CN205256675U (en) * | 2015-11-02 | 2016-05-25 | 王欢 | Climb electronic aircraft of wall operation |
| CN205493730U (en) * | 2015-12-03 | 2016-08-24 | 王成忠 | Rotorcraft building outer wall washs and paint spraying machine ware people |
| CN105952121A (en) * | 2016-05-22 | 2016-09-21 | 安庆海纳信息技术有限公司 | Whitewash robot for building wall capable of automatically pouring paints |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107989338A (en) * | 2017-11-17 | 2018-05-04 | 浙江海洋大学 | A kind of civil engineering machine and its control method |
| CN109263400A (en) * | 2018-10-29 | 2019-01-25 | 王骞宇 | A kind of spraying mothers and sons robot |
| CN110485685A (en) * | 2019-08-22 | 2019-11-22 | 清华大学 | A kind of low quality long stroke external wall spraying device |
| CN111236587A (en) * | 2020-02-04 | 2020-06-05 | 胡瑞昊 | Wall surface spray painting cleaning method and special equipment |
| CN111270819A (en) * | 2020-02-22 | 2020-06-12 | 北京正升建设工程有限公司 | Wall surface painting method, system and device |
| CN112892931A (en) * | 2021-01-22 | 2021-06-04 | 大余县和锋电子有限公司 | Shell paint spraying apparatus is used in headphone production |
| CN112892931B (en) * | 2021-01-22 | 2021-10-26 | 大余县和锋电子有限公司 | Shell paint spraying apparatus is used in headphone production |
| CN112937861A (en) * | 2021-04-07 | 2021-06-11 | 董贵银 | Can be many rotor unmanned aerial vehicle of building body wall repairment |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170804 |
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| RJ01 | Rejection of invention patent application after publication |